Methods and systems for determining and tracking extremities of a target
First Claim
Patent Images
1. A method for determining extremities of a user, the method comprising:
- receiving a depth image;
generating a grid of voxels based on the depth image;
removing a background included in the grid of voxels to isolate one or more voxels associated with a human target; and
determining a location or position of one or more extremities of the isolated human target by performing acts comprising;
determining a candidate for the one or more extremities;
generating a candidate cylinder based on the grid of voxels;
calculating a score for the candidate based on the candidate cylinder;
determining whether the score of the candidate exceeds an extremity threshold score; and
assigning a value of a voxel in the grid associated with the candidate to the location or position of the one or more extremities when the score exceeds the extremity threshold score.
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Abstract
An image such as a depth image of a scene may be received, observed, or captured by a device. A grid of voxels may then be generated based on the depth image such that the depth image may be downsampled. A background included in the grid of voxels may also be removed to isolate one or more voxels associated with a foreground object such as a human target. A location or position of one or more extremities of the isolated human target may then be determined.
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Citations
20 Claims
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1. A method for determining extremities of a user, the method comprising:
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receiving a depth image; generating a grid of voxels based on the depth image; removing a background included in the grid of voxels to isolate one or more voxels associated with a human target; and determining a location or position of one or more extremities of the isolated human target by performing acts comprising; determining a candidate for the one or more extremities; generating a candidate cylinder based on the grid of voxels; calculating a score for the candidate based on the candidate cylinder; determining whether the score of the candidate exceeds an extremity threshold score; and assigning a value of a voxel in the grid associated with the candidate to the location or position of the one or more extremities when the score exceeds the extremity threshold score. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A computer-readable storage device having stored thereon computer executable instructions for determining extremities of a user in a scene, the computer executable instructions comprising instructions for:
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receiving a depth image comprising pixels; downsampling the pixels in the received depth image to generate one or more voxels; isolating one or more voxels associated with a human target; and determining a location or position of a head of the isolated human target by performing acts comprising; determining a candidate for the head; generating a candidate cylinder based on the grid of voxels; calculating a score for the candidate based on the candidate cylinder; determining whether the score of the candidate exceeds a head threshold score; and assigning a value of a voxel in the grid associated with the candidate to the location or position of the head when the score exceeds the head threshold score. - View Dependent Claims (13, 14, 15, 16)
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17. A system for determining extremities of a user, the system comprising:
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a capture device, wherein the capture device comprises a camera component to receive a depth image of a scene; and a computing device in operative communication with the capture device, wherein the computing device comprises a processor that generates a downsampled depth image based on one or more pixels in the depth image received from the capture device;
removes a background of the downsampled depth image to isolate a human target; and
determines a location or position of one or more extremities of the isolated human target by performing acts comprising;determining a candidate for the one or more extremities; generating a candidate cylinder based on a grid of voxels; calculating a score for the candidate based on the candidate cylinder; determining whether the score of the candidate exceeds an extremity threshold score; and assigning a value of a voxel in the grid associated with the candidate to the location or position of the one or more extremities when the score exceeds the extremity threshold score, wherein the one or more extremities comprises at least one of a head, a centroid, a shoulder, a hip, a leg, an arm, a hand, or a foot. - View Dependent Claims (18, 19, 20)
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Specification